User Manual AMAX-1220/1240 Series. Open Frame 2/4-Axis AMONet RS-485 Motion Slave Modules

Transcription

1 User Manual AMAX-1220/1240 Series Open Frame 2/4-Axis AMONet RS-485 Motion Slave Modules

2 Copyright The documentation and the software included with this product are copyrighted 2012 by Advantech Co., Ltd. All rights are reserved. Advantech Co., Ltd. reserves the right to make improvements in the products described in this manual at any time without notice. No part of this manual may be reproduced, copied, translated or transmitted in any form or by any means without the prior written permission of Advantech Co., Ltd. Information provided in this manual is intended to be accurate and reliable. However, Advantech Co., Ltd. assumes no responsibility for its use, nor for any infringements of the rights of third parties, which may result from its use. Acknowledgements AMONet and AMAX-1220/1240 are trademarks of Advantech Inc. Intel and Pentium are trademarks of Intel Corporation. Microsoft Windows and MS-DOS are registered trademarks of Microsoft Corp. All other product names or trademarks are properties of their respective owners. Product Warranty (2 years) Advantech warrants to you, the original purchaser, that each of its products will be free from defects in materials and workmanship for two years from the date of purchase. This warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by Advantech, or which have been subject to misuse, abuse, accident or improper installation. Advantech assumes no liability under the terms of this warranty as a consequence of such events. Because of Advantech s high quality-control standards and rigorous testing, most of our customers never need to use our repair service. If an Advantech product is defective, it will be repaired or replaced at no charge during the warranty period. For outof-warranty repairs, you will be billed according to the cost of replacement materials, service time and freight. Please consult your dealer for more details. If you think you have a defective product, follow these steps: 1. Collect all the information about the problem encountered. (For example, CPU speed, Advantech products used, other hardware and software used, etc.) Note anything abnormal and list any onscreen messages you get when the problem occurs. 2. Call your dealer and describe the problem. Please have your manual, product, and any helpful information readily available. 3. If your product is diagnosed as defective, obtain an RMA (return merchandize authorization) number from your dealer. This allows us to process your return more quickly. 4. Carefully pack the defective product, a fully-completed Repair and Replacement Order Card and a photocopy proof of purchase date (such as your sales receipt) in a shippable container. A product returned without proof of the purchase date is not eligible for warranty service. 5. Write the RMA number visibly on the outside of the package and ship it prepaid to your dealer. Part No A0000 Edition 1 Printed in Taiwan December 2013 AMAX-1220/1240 Series User Manual ii

3 Declaration of Conformity CE This product has passed the CE test for environmental specifications when shielded cables are used for external wiring. We recommend the use of shielded cables. This kind of cable is available from Advantech. Please contact your local supplier for ordering information. Technical Support and Assistance 1. Visit the Advantech web site at where you can find the latest information about the product. 2. Contact your distributor, sales representative, or Advantech's customer service center for technical support if you need additional assistance. Please have the following information ready before you call: Product name and serial number of your peripheral attachments of your software (operating system, version, application software, etc.) A complete description of the problem The exact wording of any error messages Packing List Before setting up the system, check that the items listed below are included and in good condition. If any item does not accord with the table, please contact your dealer immediately. In addition to this User Manual, the package should also include the following items: AMAX-1220/1240 Series: Open Frame Type 2/4-Axis AMONet RS-485 Motion Slave Modules iii AMAX-1220/1240 Series User Manual

4 AMAX-1220/1240 Series User Manual iv

5 Contents Chapter 1 Introduction Features AMAX-1220 Specification Axes Encoder input Pulse/Direction output Digital input Digital output Simultaneous move signal General Specification AMAX-1240 Specification Axes Encoder input Pulse/Direction output Digital input Digital output Simultaneous move signal General Specification... 7 Chapter 2 Hardware Functionality PCB Board Layout AMAX-1220 PCB Layout & Pin Assignment Figure 2.1 PCB Layout of AMAX Figure 2.2 Top View of AMAX Figure 2.3 Middle View of AMAX Figure 2.4 Bottom View of AMAX Figure 2.5 Side View of AMAX AMAX-1240 Label Assignment Figure 2.6 PCB Layout of the AMAX-1240 L Figure 2.7 Top View of AMAX-1240 L Figure 2.8 Middle View of AMAX-1240 L Figure 2.9 Bottom View of AMAX-1240 L Figure 2.10Side View of AMAX-1240 L Power Connector Module Power Connector (CN1) Table 2.1: Module Power Connector (CN1) External Power Connector (CN2) Table 2.2: External Power Connector (CN2) AMONet Interface AMONet Extension Table 2.3: AMONet Extension Figure 2.11RS-485 Extension Port Terminal Resistor Table 2.4: Terminal Resistor Board ID Setting (SW1) Table 2.5: Board ID Setting (SW1) Communication Protocol Baud Rate Setting (SW2) Baud-Rate Setting TUD TMD EMG End Limit Logic Setting (SW3) LED Definition v AMAX-1220/1240 Series User Manual

6 2.8 Motion Control Connector Pin Definition (CN3 to CN9) External Power Connection and Simultaneous Move Signal (CN3) 23 Table 2.6: External Power Connection and Simultaneous Move Signal (CN3) Servo Drive Interface Table 2.7: Servo Drive Interface Mechanical I/O Interface Extra General Purpose Input & Output (ONLY available for AMAX model) Table 2.8: CN Table 2.9: CN Motion Signal Connection Digital Input Table 2.10:ORG Pins Table 2.11:LMT+ and LMT- Pins Table 2.12:LTC Pins Table 2.13:SD Pins Table 2.14:ALM Pins Table 2.15:INP Pins Table 2.16:RDY Pins Table 2.17:EMG Pins Digital Output Table 2.18:CMP Pins Table 2.19:BREAK Pins Table 2.20:SVON Pins Table 2.21:ERC Pins Table 2.22:RALM Pins Digital Bi-direction Simultaneously Move Signal Table 2.23:CSTA Pins Table 2.24:CSTP Pins Pulse Output Signal Table 2.25:DDA Pulse Pins Table 2.26:Encoder Pins Extra General Purpose Input & Output (ONLY available for AMAX model) Table 2.27:IDIx Pins Table 2.28:IDOx Pins AMAX-1220/1240 Series User Manual vi

7 Chapter 1 1Introduction This chapter gives an overview of the product features, and specifications for AMAX-1220/1240 Series. Sections include: Features Specifications

8 Products in the AMAX-1220/1240 Series are used to increase the number of axes for an AMONet RS-485 distributed motion control network. These extension slave modules connect serially by a simple and affordable Cat.5 LAN cable, reducing the wiring between driver and controller. This is very suitable for highly integrated machine automation applications. AMAX-1220 and AMAX-1240 support a range of common motor vendors by transfer cable, such as Mitsubishi J3-Super series, Panasonic Minas A4 or A5 type, and Yaskawa Sigma-V. 1.1 Features End limit logic is switchable (high or low active) Board ID is switchable Easily visible LED indicators on board to do diagnosis Direct wire to servo drive to save terminal board space while installation Max. 6.5 MHz, 4-axis pulse output 28 bits counter for incremental encoder Horizontal installation for for servo or stepping motor driver Suitable for DIN-rail mounting Linear & Circular interpolation support for AMAX-1220/1240 Simultaneously start / stop between modules are supported for AMAX-1220 and AMAX-1240 Position compare and triggering function is supported for AMAX-1240 by linear interval & table list method 1.2 AMAX-1220 Specification Axes Number of Axes Driver Output Pulse 2~32-Axes Linear Interpolation 2-Axes Circular Interpolation 2 Axes Position control Range -134,217,728 ~ +134,217,728 Acceleration/ Deceleration 1 to 65,536(16-bits) Driver Speed Pulse Output Type Counter Precision Output Signal Modes Speed Curve Max: 5 Mpps Min: 0.1 pps Pulse/Direction(1-pulse, 1-direction type) or Up/ Down(2-pulse type) or A/B phase Counter1: Command position counter Counter2: Mechanical position counter Counter3: General-purpose deviation counter 0.5LSB Differential line driving output T/S-curve Acceleration/Deceleration Range -134,217,728 ~ +134,217,728 Speed 0.1~5Mpps Precision 0.5LSB Range -134,217,728~+134,217,728 Speed 0.1~5Mpps Precision 0.5LSB AMAX-1220/1240 Series User Manual 2

9 1.2.2 Encoder input Item ECA ECB ECZ Type Encoder Pulse Input Type Input voltage Max. input voltage Max. input frequency Protection Pulse/Direction output Item CW\PULS CCW\DIR Type Output voltage Max. output voltage Max. output frequency Two terminal, opto-isolated Quadrature (A/B phase) or Up/Down (CW/CCW) 0: (V+ - V-) < 1V DC 1: (V+ - V-) > 3.5V DC V+ - V- < 15V DC 3MHz x1, x2, x4 (A/B phase only) 2,500V Isolation Two terminal, opto-isolated 0 ~ 4 V 4 V DC (1: min 2V DC, 0: MAX 0.7V DC ) The output voltage will drop depend on the output current 5MHz Chapter 1 Introduction Digital input Item ORG LMT+, LMT- INPOS ALM RDY LTC SD DI0 - DI7 Type Input voltage Input Current Max. Input voltage One terminal, opto-isolated 0: Vin < 3V DC 1: Vin > 10V DC V 30 V DC Max. Input delay time 100 µs Protection 2,500 V Isolation Digital output Item BREAK ALMCLR SRVON ERC COMP DO0 - DO7 Type Output voltage Max. output voltage Max. sink current Max. Output delay time Protection One terminal, opto-isolated, Current sink (5 ~ 30 V) 0: Vo < 0.8 V DC 1: Vo <= Vio 30 V DC 200 ma per channel 100 µs (BREAK, ALMCLR, SRVON, ERC) 250 µs (DO0 - DO7) 2,500 V Isolation 3 AMAX-1220/1240 Series User Manual

10 1.2.6 Simultaneous move signal Item Type One terminal, opto-isolated, Current sink (5 ~ 30 V) CSTA CSTP Output voltage Max. output voltage 0: Vo < 0.8 V DC 1: Vo <= Vio 30 V DC Max. sink current 200 ma per channel Max. Output delay time 1 µs Protection 2,500 V Isolation General Specification Item Bus Type Certifications AMONet RS-485 CE, FCC Class A I/O Connector Type 2*DB26+2*9 pin pluggable connector 2*12 pin pluggable connector Dimensions 142 x 104 x 45 mm (5.6" x 4.1" x 1.8 ) Power Consumption Typical V Max V System Power Supply VS: 24 V DC ± 10% Power Supply for Digital Input/ Output VEX: V DC Storage Humidity 5~95% RH, non-condensing Operating Temperature 0 ~ 65 C Storage Temperature -25 ~ 85 C AMAX-1220/1240 Series User Manual 4

11 1.3 AMAX-1240 Specification Axes Number of Axes Driver Output Pulse 2~4-Axes Linear Interpolation 2-Axes Circular Interpolation 4 Axes Position control Range -134,217,728 ~ +134,217,728 Acceleration/ Deceleration 1 to 65,536 (16-bits) Driver Speed Pulse Output Type Counter Precision Output Signal modes Speed Curve Max: 6.5Mpps Min: 0.1 pps Pulse/Direction (1-pulse, 1-direction type) or Up/Down (2-pulse type) or A/B phase Counter1: Command position counter Counter2: Mechanical position counter Counter3: Deflection counter 0.5LSB Differential line driving output T/S-curve Acceleration/Deceleration Range -134,217,728 ~ +134,217,728 Speed 0.1 ~ 6.5 Mpps Precision 0.5 LSB Range -134,217,728 ~ +134,217,728 Speed 0.1 ~ 6.5 Mpps Precision 0.5 LSB Chapter 1 Introduction Encoder input Item ECA ECB ECZ Type Encoder Pulse Input Type Input voltage Max. input voltage Max. input frequency Protection Two terminal, opto-isolated Quadrature (A/B phase) or Up/Down (CW/CCW) 0 (V+ - V-) < 1 V DC 1: (V+ - V-) > 3.5 V DC V+ - V- < 15 V DC 3 MHz x1, x2, x4 (A/B phase only) 2,500 V Isolation Pulse/Direction output Item CW\PULS CCW\DIR Type Output voltage Max. output voltage Max. output frequency Two terminal, opto-isolated 0 ~ 4 V 4 V DC (1: min 2 V DC, 0 MAX 0.7 V DC ) The output voltage will drop depend on the output current 6.5 MHz 5 AMAX-1220/1240 Series User Manual

12 1.3.4 Digital input Item ORG LMT+, LMT- INPOS ALM RDY LTC SD Type Input voltage Input Current Max. Input voltage One terminal, opto-isolated 0: Vin < 3 V DC 1: Vin > 10 V DC V 30 V DC Max. Input delay time 100 µs Protection 2,500 V Isolation Digital output Item BREAK ALMCLR SRVON ERC COMP Type Output voltage Max. output voltage Max. sink current Max. Output delay time Protection One terminal, opto-isolated, Current sink (5 ~ 30 V) 0: Vo < 0.8 V DC 1: Vo <= Vio 30 V DC 200 ma per channel 1 µs for COMP. 100 µs for BREAK, ALMCLR, SRVON, ERC. 2,500 V Isolation Simultaneous move signal Item Type One terminal, opto-isolated, Current sink (5 ~ 30 V) CSTA CSTP Output voltage Max. output voltage 0: Vo < 0.8 V DC 1: Vo <= Vio 30 V DC Max. sink current 200 ma per channel Max. Output delay time 1 µs Protection 2,500 V Isolation AMAX-1220/1240 Series User Manual 6

13 1.3.7 General Specification Item Bus Type AMONet RS-485 Certifications CE, FCC Class A I/O Connector Type 4*DB26+2*16pin pluggable connector Dimensions 142 x 104 x 45 mm (5.6" x 4.1" x 1.8 ) Power Consumption Typical 24V Max 24V System Power Supply VS: 24 V DC ± 10% Power Supply for Digital Input/ Output VEX: V DC Storage Humidity 5~95% RH, non-condensing Operating Temperature 0 ~ 65 C Storage Temperature -25 ~ 85 C Chapter 1 Introduction 7 AMAX-1220/1240 Series User Manual

14 AMAX-1220/1240 Series User Manual 8

15 Chapter 2 2Hardware Functionality This chapter shows the hardware functionality of AMAX-1220/1240 Series. Sections include: PCB Board Layout Power Connector AMONet Interface BoardID Switch Configuration Setting LED Definition Pin Definition Signal Connection Field Wiring Considerations

16 2.1 PCB Board Layout AMAX-1220 PCB Layout & Pin Assignment Figure 2.1 PCB Layout of AMAX-1220 AMAX-1220/1240 Series User Manual 10

17 Chapter 2 Hardware Functionality Figure 2.2 Top View of AMAX-1220 Figure 2.3 Middle View of AMAX AMAX-1220/1240 Series User Manual

18 Note! The height does not include the male connector. The height of male connector is 9mm Figure 2.4 Bottom View of AMAX-1220 Figure 2.5 Side View of AMAX-1220 AMAX-1220/1240 Series User Manual 12

19 For Connectors Name CN1 CN2 CN3 CN4 CN5 CN6 CN7 CN8 CN9 SW1 SW2 SW3 For LED indicators Name PWR RUN EMG STS BSY ORG SON LMT- ALM LMT+ Module Power External Power and EMG Input Sharing External Power and CSTA, CSTP Input 12 pin pluggable connector 12 pin pluggable connector DB26 Connector for X axis DB26 Connector for Y axis 9 pin pluggable connector for X axis 9 pin pluggable connector for Y axis Board ID Switch Configuration Setting Configuration Setting Power LED Communication LED Emergency Stop LED Communication Status LED Busy LED for n Axis Origin LED for n Axis Servo On LED for n Axis Negative End Limit LED for n Axis Alarm LED for n Axis Positive End Limit LED for n Axis Chapter 2 Hardware Functionality 13 AMAX-1220/1240 Series User Manual

20 2.1.2 AMAX-1240 Label Assignment Figure 2.6 PCB Layout of the AMAX-1240 L2 AMAX-1220/1240 Series User Manual 14

21 Chapter 2 Hardware Functionality Figure 2.7 Top View of AMAX-1240 L2 Figure 2.8 Middle View of AMAX-1240 L2 15 AMAX-1220/1240 Series User Manual

22 Note! The height does not include the male connector. The height of male connector is 9mm Figure 2.9 Bottom View of AMAX-1240 L2 Figure 2.10 Side View of AMAX-1240 L2 AMAX-1220/1240 Series User Manual 16

23 For Connectors Name CN1 CN2 CN3 CN4 CN5 CN6 CN7 CN8 CN9 SW1 SW2 SW3 For LED indicators Name PWR RUN EMG STS BSY ORG SVON LMT- ALM LMT+ Module Power External Power and EMG Input Sharing External Power and CSTA, CSTP Input DB26 Connector for X axis DB26 Connector for Y axis DB26 Connector for Z axis DB26 Connector for U axis 16 pin pluggable connector for X and Y axis 16 pin pluggable connector for Z and U axis Board ID Switch Configuration Setting Configuration Setting Power LED Communication LED Emergency Stop LED Communication Status LED Busy LED for n Axis Origin LED for n Axis Servo On LED for n Axis Negative End Limit LED for n Axis Alarm LED for n Axis Positive End Limit LED for n Axis Chapter 2 Hardware Functionality 17 AMAX-1220/1240 Series User Manual

24 2.2 Power Connector Module Power Connector (CN1) Table 2.1: Module Power Connector (CN1) Pin Name Type Pin description 1 +VS Power +24V power input 2 -VS Power Power ground 3 VE_GND Power External earth ground External Power Connector (CN2) Table 2.2: External Power Connector (CN2) Pin Name Type Pin description 1 +VEX Power External +24V power input 2 -VEX Power External power ground 3 EMG In Isolated digital input 4 VE_GND Power External earth ground AMAX-1220/1240 Series User Manual 18

25 2.3 AMONet Interface AMONet Extension Table 2.3: AMONet Extension Pin Label 1 FG Field Ground 2 FG Field Ground 3 RS485+ High Speed RS-485 protocol 4 FG Field Ground 5 FG Field Ground 6 RS485- High Speed RS-485 protocol 7 FG Field Ground 8 FG Field Ground Chapter 2 Hardware Functionality Figure 2.11 RS-485 Extension Port 19 AMAX-1220/1240 Series User Manual

26 2.3.2 Terminal Resistor Table 2.4: Terminal Resistor PIN /4W Resistor 6 Note! Terminal Resistor is used for the last module only. 2.4 Board ID Setting (SW1) SW1 is used to assign the ID occupation in network. AMAX-1240 will ONLY occupy 1 ID by node number setting, but AMAX-1220 will occupy 4 consecutive ID by node number setting. Take AMAX-1240 as example. If Pin 1 to Pin 4 are OFF, but Pin 5 & 6 are ON, the node number is 3. Then, AMAX-1240 board ID is 3 and only occupies this address. Take AMAX-1220 as example. If Pin 1 to 3 are OFF, but Pin 4 is ON, the node number is 4 (Please see Note 2). Then, AMAX-1220 board ID will occupy 4,5,6,7 as consecutive sequence. Other AMAX device shall avoid to occupy these 4 board ID. Assume your system uses one AMAX-1220 and one AMAX And, your node number is assigned as the above case. Then, the ID occupation would be 3,4,5,6,7, and the other ID would be empty for other AMAX devices. Table 2.5: Board ID Setting (SW1) Pin Label ON OFF 1 DN DN DN DN DN DN0 1 0 Note 1! Node Number=32xDN5+16xDN4+8xDN3+4xDN2+2xDN1+DN0. Default Setting: All the switches are in OFF status. AMAX-1240 needs 6 digits to set up the board ID. Note 2! AMAX-1220 ONLY needs first 4 pins to set up the board ID. Shortly, pin 5 and pin 6 ARE NOT available to use. Only use pin 1 to 4 to set up. AMAX-1220/1240 Series User Manual 20

27 2.5 Communication Protocol Baud Rate Setting (SW2) Swtich Label 1 SPD1 Baud-Rate Setting 2 SPD0 3 TUD Time-Out Status Latch 4 TMD Specify watchdog timer time 5 BRK *For internal use only, please keep in OFF 6 EMG Emergency stop control Baud-Rate Setting SPD1 SPD0 OFF OFF 20 MHz OFF ON 10 MHz ON OFF 5 MHz ON ON 2.5 MHz Chapter 2 Hardware Functionality TUD TMD This terminal is used to set output conditions when the watchdog timer times out. OFF The output keeps its current status. ON The output is Reset EMG When the interval between data packets sent from a master card (ex. PCI-1202U) is longer than the specified interval, the watchdog timer times out. 20 Mbps 10 Mbps 5 Mbps 2.5 Mbps OFF 20 ms 40 ms 80 ms 160 ms ON 5 ms 10 ms 20 ms 40 ms This terminal is used to set input conditions when the emergency stops occurrence. OFF High active ON Low active. 21 AMAX-1220/1240 Series User Manual

28 2.6 End Limit Logic Setting (SW3) For AMAX-1220 Pin Name Type Pin description 1 ELLX IN ON: High active OFF: Low active 2 ELLY IN ON: High active OFF: Low active 3 NC 4 NC For AMAX-1240 Pin Name Type Pin description 1 ELLX IN ON: High active OFF: Low active 2 ELLY IN ON: High active OFF: Low active 3 ELLZ IN ON: High active OFF: Low active 4 ELLU IN ON: High active OFF: Low active 2.7 LED Definition For AMAX-1220 & AMAX-1240 Name Axis Pin PWR Power RUN Communication STS Communication Status EMG Emergency Stop BSY ALL Busy status for n Axis ORG ALL Origin status for n Axis SVON ALL Servo On status for n Axis LMT- ALL Negative End Limit status for n Axis ALM ALL Alarm status for n Axis LMT+ ALL Positive End Limit status for n Axis AMAX-1220/1240 Series User Manual 22

29 2.8 Motion Control Connector Pin Definition (CN3 to CN9) External Power Connection and Simultaneous Move Signal (CN3) Table 2.6: External Power Connection and Simultaneous Move Signal (CN3) Pin Name Type Pin description 1 +VEX Power External +24V power input 2 +VEX Power External +24V power input 3 -VEX Power External power ground 4 -VEX Power External power ground 5 CSTA In/Out Isolated digital input port 6 CSTP In/Out Isolated digital input port Servo Drive Interface For AMAX-1220, CN6 and CN7 are used. For AMAX-1240, CN4 to CN 7 are used. They are common in DB26 connector type. Chapter 2 Hardware Functionality 23 AMAX-1220/1240 Series User Manual

30 Table 2.7: Servo Drive Interface Pin Name Axis Type Pin 1 SRVON All Out Servo ON output 2 INPOS All In Servo in position input 3 ERC All Out Servo counter clear output 4 RDY All In Servo ready input 5 CW- / PULS- All Out 6 CW+ / PULS+ All Out 7 ECA- All In Pulse command differential output - 1.Pulse+ output in 2 pulse mode 2.Pulse output in pulse/direction mode Pulse command differential output + 1.Pulse+ output in 2 pulse mode 2.Pulse output in pulse/direction mode Encoder differential input - 1.Phase A input in AB phase mode 2.Pulse+ input in 2 pulse mode 3.Pulse input in pulse/direction mode 8 ECA+ All In Encoder differential input + 1.Phase A input in AB phase mode 2.Pulse+ input in 2 pulse mode 3.Pulse input in pulse/direction mode 9 BREAK All Out Motor BREAK input 10 ALMCLR All Out Servo alarm clear 11 ALM All In Servo alarm input 12 +VEX All Power External +24V power input 13 -VEX All Power External power ground 14 -VEX All Power External power ground 15 -VEX All Power External power ground 16 ECB- All In Encoder differential input - 1.Phase B input in AB phase mode 2.Pulse- input in 2 pulse mode 3.Direction input in pulse/direction mode 17 ECB+ All In Encoder differential input + 1.Phase B input in AB phase mode 2.Pulse- input in 2 pulse mode 3.Direction input in pulse/direction mode 18 -VEX All Power External power ground 19 EMG All In Emergency stop input for all axis 20 -VEX All Power External power ground 21 -VEX All Power External power ground 22 -VEX All Power External power ground 23 CCW- / DIR- All Out Pulse command differential output - 1.Pulse- output in 2 pulse mode 2.Direction output in pulse/direction mode 24 CCW+ / DIR+ All Out Pulse command differential output + 1.Pulse- output in 2 pulse mode 2.Direction output in pulse/direction mode 25 ECZ- All In Encoder index differential input - 26 ECZ+ All In Encoder index differential input + AMAX-1220/1240 Series User Manual 24

31 2.8.3 Mechanical I/O Interface For AMAX-1220, CN8 and CN9 are defined as follows with TB9 connector type. Pin Name Axis Type Pin 1 +VEX All Power External +24V power input 2 ORG All In Home input / General input 3 3 LMT+ All In +Direction limit input 4 LMT- All In -Direction limit input 5 LTC All In Encoder counter position latch 6 SD All In Slow down velocity 7 COMP All Out Encoder compare output 8 BREAK All Out Motor BREAK input 9 -VEX All Power External power ground For AMAX-1240, CN8 and CN9 are defined as follows with TB16 connector type. Pin Name Axis Type Pin 1 +VEX All Power External +24V power input 2 ORG X,Z In Home input 3 LMT+ X,Z In +Direction limit input 4 LMT- X,Z In -Direction limit input 5 LTC X,Z In Encoder counter position latch 6 SD X,Z In Slow down velocity 7 COMP X,Z Out Encoder compare output 8 BREAK X,Z Out Motor BREAK input 9 ORG Y,U In Home input 10 LMT+ Y,U In +Direction limit input 11 LMT- Y,U In -Direction limit input 12 LTC Y,U In Encoder counter position latch 13 SD Y,U In Slow down velocity 14 COMP Y,U Out Encoder compare output 15 BREAK Y,U Out Motor BREAK input 16 -VEX All Power External power ground Chapter 2 Hardware Functionality 25 AMAX-1220/1240 Series User Manual

32 2.8.4 Extra General Purpose Input & Output (ONLY available for AMAX-1220 model) The extra general purpose input and output are defined in CN4 & CN5 of AMAX-1220 with TB12 connector type. Table 2.8: CN4 Pin Name Axis Type Pin 1 VCOM Power External common power input 2 DI0 In Isolated digital input 3 DI1 In Isolated digital input 4 -VEX Power External power ground 5 DI2 In Isolated digital input 6 DI3 In Isolated digital input 7 VCOM Power External common power input 8 DI4 In Isolated digital input 9 DI5 In Isolated digital input 10 -VEX Power External power ground 11 DI6 In Isolated digital input 12 DI7 In Isolated digital input Table 2.9: CN5 Pin Name Axis Type Pin 1 +VEX Power External +24V power input 2 DO0 Out Isolated digital output 3 DO1 Out Isolated digital output 4 -VEX Power External power ground 5 DO2 Out Isolated digital output 6 DO3 Out Isolated digital output 7 +VEX Power External +24V power input 8 DO4 Out Isolated digital output 9 DO5 Out Isolated digital output 10 -VEX Power External power ground 11 DO6 Out Isolated digital output 12 DO7 Out Isolated digital output AMAX-1220/1240 Series User Manual 26

33 2.9 Motion Signal Connection Digital Input This includes ORG, LMT+, LMT-, LTC, SD, ALM, INPOS, RDY and EMG signals. Home Position Table 2.10: ORG Pins Label ORG ORG Input End Limit Table 2.11: LMT+ and LMT- Pins Label LMT+ Plus End Limit LMT- Minus End Limit Chapter 2 Hardware Functionality Position Latch Signal Table 2.12: LTC Pins Label LTC Latch counter Input Slow Down Signal Table 2.13: SD Pins Label SD Slow down Signal Servo Alarm Table 2.14: ALM Pins Label ALM Servo Alarm Input 27 AMAX-1220/1240 Series User Manual

34 Servo In position Table 2.15: INP Pins Label INPOS Servo In position Input Servo Ready Table 2.16: RDY Pins Label RDY Servo Ready Input Emergency Stop Table 2.17: EMG Pins Label EMG Emergency Stop Digital Output This includes COMP, BREAK, SRVON, ERC and ALMCLR signals. Position Compare for Trigger Output Table 2.18: CMP Pins Label COMP Compare Output Servo Break BREAK is an output signal for servo break. It has two different operating modes. Single mode: In this type, this digital output pin is the same as SRVON and ERC that has a specific output function. Auto mode: This mode can make this pin automatically changed its status followed by SRVON. Table 2.19: BREAK Pins Label BREAK Break Signal Output AMAX-1220/1240 Series User Manual 28

35 Servo On Table 2.20: SVON Pins Label SRVON Reset Driver Error counter/deviation Counter Clear Table 2.21: ERC Pins Label ERC Reset Servo Alarm Table 2.22: RALM Pins Label ALMCLR Servo On control output Reset Drive Error Counter Reset Servo Alarm Digital Bi-direction Simultaneously Move Signal CSTA (Concurrent Start) This pin is contained input and output. The model will under waiting status until this pin get a low signal. The DDA pulse will send. Chapter 2 Hardware Functionality 29 AMAX-1220/1240 Series User Manual

36 CSTA/CSTP module connections are up to 8 modules at maximum. In shorts, in the AMONET network (in one ring), no matter AMAX-1240 using CSTA/CSTP or AMAX using CSTA/CSTP, there are totally 8 modules in maximum. Table 2.23: CSTA Pins Label CSTA CSTA Signal Port Note! The CSTA of AMAX-1240 and AMAX-1220 ARE NOT allowed to mutually connect with each other. Shortly say, if multiple AMAX-1220 are required to perform simultaneously move, then, connect CSTA signal of each AMAX-1220 modules. if multiple AMAX-1240 are required to perform simultaneously move, then, connect CSTA signal of each AMAX modules. But, both of CSTA signal are not allowed to connect. CSTP (Concurrent Stop) This pin can command the slave model stop running and it has ability to make other model terminate working. Table 2.24: CSTP Pins Label CSTP CSTP Signal Port Note! The CSTP of AMAX-1240 and AMAX-1220 ARE NOT allowed to mutually connect with each other. Shortly say, if multiple AMAX-1220 are required to perform simultaneously move, then, connect CSTP signal of each AMAX-1220 modules. if multiple AMAX-1240 are required to perform simultaneously move, then, connect CSTP signal of each AMAX modules. But, both of CSTP signal are not allowed to connect. AMAX-1220/1240 Series User Manual 30

37 2.9.4 Pulse Output Signal OUT and DIR (Pulse Train Output Control) Table 2.25: DDA Pulse Pins Label CW+/PULS+ CW-/PULS- CCW+/DIR+ CCW-/DIR- Encoder Feedback Signal Table 2.26: Encoder Pins CW+ / Pulse Output+ CW- / Pulse Output- CCW+ / Direction Output+ CCW- / Direction Output- Label ECA+ Encoder A (+) ECA- Encoder A (-) ECB+ Encoder B (+) ECB- Encoder B (-) ECZ+ Encoder Z (+) ECZ- Encoder Z (-) Extra General Purpose Input & Output (ONLY available for AMAX-1220 model) Chapter 2 Hardware Functionality DI0~DI7 These ports can have the outer digital signal and send to master card through AMONet. Table 2.27: IDIx Pins Label DI0~DI7 General Purpose Digital Output 31 AMAX-1220/1240 Series User Manual

38 DO0~DO7 These ports can be control by master card and it can connect relay, SCR and so on. Table 2.28: IDOx Pins Label DO0~DO7 General Purpose Digital Output with diamagnetic diode AMAX-1220/1240 Series User Manual 32

39 33 AMAX-1220/1240 Series User Manual Chapter 2 Hardware Functionality

40 Please verify specifications before quoting. This guide is intended for reference purposes only. All product specifications are subject to change without notice. No part of this publication may be reproduced in any form or by any means, electronic, photocopying, recording or otherwise, without prior written permission of the publisher. All brand and product names are trademarks or registered trademarks of their respective companies. Advantech Co., Ltd. 2012